version: 66.06
glider: 146
mission: 6
dive: 181
start: 6 2 111 2 13 44
data:
$ID,146
$MISSION,6
$DIVE,181
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52520
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-271952.66
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3150
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3020
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0036476359
$SEABIRD_T_H,0.00058019959
$SEABIRD_T_I,1.488937e-05
$SEABIRD_T_J,2.4708795e-06
$SEABIRD_C_G,-10.237597
$SEABIRD_C_H,1.1413157
$SEABIRD_C_I,-0.0016513355
$SEABIRD_C_J,0.00021051844
$GPS1,020608,2247.027,-15757.662,68,1.0,76,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.2
$GPS2,021249,2247.119,-15757.671,16,1.1,33,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.223,-0.073
$KALMAN_X,-90513.2,-454.6,-11.6,89483.9,-44.6
$KALMAN_Y,-127866.3,407.8,-375.1,133788.8,673.3
$MHEAD_RNG_PITCHd_Wd,241.8,9102,-19.8,-10.040
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.72,0.000,2,0.000,0.000,476,1790,3274,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.7,-7.4,9,117,12.20,2.67,-4.07,0.000,4,0.145,0.063,2841,229,3499,0,0,0,0,0,0
$GC,330,-1.26,-116.8,56.3,-17.2,34,335,0.15,2.45,0.00,0.000,6,0.125,0.014,2871,1846,3500,0,0,0,0,0,0
$GC,594,-1.26,-116.8,93.1,-13.3,58,598,0.00,2.33,0.00,0.000,4,0.000,0.025,2872,3346,3502,0,0,0,0,0,0
$GC,614,-1.26,-116.8,95.8,-13.5,59,619,0.00,2.47,0.00,0.000,6,0.000,0.024,2872,1788,3502,0,0,0,0,0,0
$GC,882,-1.26,-116.8,130.5,-13.0,83,886,0.00,2.62,0.00,0.000,4,0.000,0.062,2872,221,3502,0,0,0,0,0,0
$GC,905,-1.26,-116.8,134.5,-13.5,84,914,0.00,2.35,0.00,0.000,6,0.000,0.014,2871,1800,3502,0,0,0,0,0,0
$GC,1170,-1.26,-116.8,165.4,-11.5,109,1174,0.00,2.40,0.00,0.000,4,0.000,0.026,2871,3330,3503,0,0,0,0,0,0
$GC,1241,-1.34,-116.8,174.2,-11.3,114,1250,0.00,2.47,0.00,0.000,6,0.000,0.031,2871,1790,3503,0,0,0,0,0,0
$GC,1512,-1.37,-116.8,205.2,-11.2,137,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1790,3503,0,0,0,0,0,0
$GC,1756,-1.42,-116.8,231.4,-10.4,143,1761,0.12,2.45,0.00,0.000,4,0.077,0.027,2829,3327,3503,0,0,0,0,0,0
$GC,1788,-1.42,-116.8,235.6,-12.2,143,1794,0.00,2.42,0.00,0.000,6,0.000,0.030,2828,1806,3504,0,0,0,0,0,0
$GC,2038,-1.42,-116.8,266.0,-12.1,150,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1805,3503,0,0,0,0,0,0
$GC,2282,-1.42,-116.8,295.6,-12.2,156,2286,0.00,2.40,0.00,0.000,4,0.000,0.031,2829,3314,3503,0,0,0,0,0,0
$GC,2315,-1.42,-116.8,299.5,-12.0,156,2321,0.00,2.42,0.00,0.000,6,0.000,0.034,2829,1818,3504,0,0,0,0,0,0
$GC,2565,-1.42,-116.8,327.3,-11.3,163,2570,0.00,2.85,0.00,0.000,4,0.000,0.089,2828,218,3503,0,0,0,0,0,0
$GC,2580,-1.42,-116.8,329.2,-11.5,163,2584,0.00,2.38,0.00,0.000,6,0.000,0.021,2828,1750,3503,0,0,0,0,0,0
$GC,2849,-1.42,-116.8,359.2,-10.9,170,2853,0.00,2.65,0.00,0.000,4,0.000,0.044,2828,3374,3503,0,0,0,0,0,0
$GC,2949,-1.46,-116.8,370.1,-10.3,172,2953,0.00,2.60,0.00,0.000,6,0.000,0.048,2828,1820,3502,0,0,0,0,0,0
$GC,3214,-1.46,-116.8,399.1,-11.1,179,3219,0.00,2.55,0.00,0.000,4,0.000,0.041,2828,3373,3501,0,0,0,0,0,0
$GC,3242,-1.46,-116.8,402.2,-11.4,179,3247,0.00,2.62,0.00,0.000,6,0.000,0.053,2828,1823,3501,0,0,0,0,0,0
$GC,3492,-1.46,-116.8,429.7,-10.9,185,3496,0.00,2.58,0.00,0.000,4,0.000,0.045,2828,3375,3499,0,0,0,0,0,0
$GC,3513,-1.46,-116.8,432.0,-10.3,185,3517,0.00,2.62,0.00,0.000,6,0.000,0.055,2828,1836,3499,0,0,0,0,0,0
$GC,3770,-1.46,-116.8,458.2,-10.2,192,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1835,3497,0,0,0,0,0,0
$GC,4013,-1.50,-116.8,481.4,-9.6,198,4014,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1835,3496,0,0,0,0,0,0
$STATE,4213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4213,begin apogee
$GC,4219,-0.31,0.0,501.1,9.7,203,4320,1.10,0.00,97.40,0.915,6,0.080,0.000,3079,2004,3020,0,0,0,0,0,0
$STATE,4321,end apogee,CONTROL_FINISHED_OK
$STATE,4321,begin climb
$GC,4325,1.38,116.8,503.2,0.0,205,4436,1.58,3.15,99.60,0.894,4,0.046,0.108,3454,405,2541,0,0,0,0,0,0
$GC,4470,1.26,162.5,499.7,7.4,208,4517,0.15,2.60,40.00,0.873,6,0.126,0.034,3425,1964,2357,0,0,0,0,0,0
$GC,4773,1.29,183.2,473.7,8.8,216,4797,0.00,2.85,18.35,0.838,4,0.000,0.060,3425,3573,2272,0,0,0,0,0,0
$GC,4842,1.29,183.2,467.0,10.1,217,4846,0.00,2.67,0.00,0.000,6,0.000,0.048,3425,1997,2270,0,0,0,0,0,0
$GC,5099,1.29,183.2,441.3,10.1,224,5104,0.00,3.00,0.00,0.000,4,0.000,0.109,3425,402,2266,0,0,0,0,0,0
$GC,5131,1.22,183.2,437.6,11.2,224,5137,0.00,2.62,0.00,0.000,6,0.000,0.029,3425,2008,2265,0,0,0,0,0,0
$GC,5381,1.24,198.3,414.4,9.2,231,5401,0.00,2.70,13.45,0.808,4,0.000,0.047,3425,3577,2211,0,0,0,0,0,0
$GC,5431,1.25,211.9,410.0,9.3,232,5450,0.00,2.65,13.60,0.801,6,0.000,0.044,3425,2002,2155,0,0,0,0,0,0
$GC,5712,1.28,231.8,385.0,8.9,239,5736,0.00,2.97,18.27,0.818,4,0.000,0.087,3425,410,2074,0,0,0,0,0,0
$GC,5755,1.28,231.8,380.9,10.1,240,5760,0.00,2.60,0.00,0.000,6,0.000,0.025,3425,2019,2073,0,0,0,0,0,0
$GC,6038,1.28,235.3,352.9,9.8,247,6047,0.00,2.58,4.07,0.555,4,0.000,0.045,3425,3573,2060,0,0,0,0,0,0
$GC,6093,1.28,235.3,346.9,11.3,248,6098,0.00,2.60,0.00,0.000,6,0.000,0.036,3425,1996,2059,0,0,0,0,0,0
$GC,6367,1.30,246.6,320.9,9.4,255,6386,0.00,2.80,11.77,0.755,4,0.000,0.077,3425,409,2012,0,0,0,0,0,0
$GC,6403,1.30,246.6,317.0,10.6,255,6409,0.00,2.55,0.00,0.000,6,0.000,0.022,3425,2006,2011,0,0,0,0,0,0
$GC,6653,1.34,246.6,291.9,10.1,262,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2006,2009,0,0,0,0,0,0
$GC,6898,1.39,246.6,265.5,10.8,268,6903,0.12,2.53,0.00,0.000,4,0.081,0.041,3460,3558,2008,0,0,0,0,0,0
$GC,6931,1.39,246.6,261.2,12.0,268,6937,0.00,2.58,0.00,0.000,6,0.000,0.037,3461,1978,2007,0,0,0,0,0,0
$GC,7181,1.39,246.6,234.4,10.5,275,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1978,2007,0,0,0,0,0,0
$GC,7426,1.40,249.0,210.4,9.9,281,7431,0.00,2.58,0.00,0.000,4,0.000,0.035,3461,3560,2006,0,0,0,0,0,0
$GC,7454,1.40,249.0,207.3,10.5,281,7458,0.00,2.55,0.00,0.000,6,0.000,0.031,3460,1986,2005,0,0,0,0,0,0
$GC,7711,1.40,249.0,181.1,10.6,299,7715,0.00,2.67,0.00,0.000,4,0.000,0.061,3461,410,2005,0,0,0,0,0,0
$GC,7779,1.40,249.0,173.9,11.8,304,7783,0.00,2.47,0.00,0.000,6,0.000,0.021,3461,2004,2004,0,0,0,0,0,0
$GC,8041,1.40,249.0,144.4,10.5,328,8045,0.00,2.47,0.00,0.000,4,0.000,0.031,3460,3548,2004,0,0,0,0,0,0
$GC,8074,1.40,249.0,140.6,10.8,330,8083,0.00,2.55,0.00,0.000,6,0.000,0.034,3460,1978,2004,0,0,0,0,0,0
$GC,8342,1.40,254.4,116.3,9.7,355,8354,0.00,2.60,6.57,0.535,4,0.000,0.031,3461,3546,1983,0,0,0,0,0,0
$GC,8491,1.44,254.4,100.4,10.9,367,8495,0.00,2.50,0.00,0.000,6,0.000,0.028,3461,1992,1982,0,0,0,0,0,0
$GC,8757,1.50,267.0,75.9,9.3,391,8776,0.00,2.67,13.20,0.565,4,0.000,0.058,3461,415,1929,0,0,0,0,0,0
$GC,8855,1.51,276.8,66.0,9.5,398,8870,0.00,2.45,9.68,0.532,6,0.000,0.018,3461,1998,1890,0,0,0,0,0,0
$GC,9127,1.65,306.2,40.6,8.3,423,9159,0.20,2.70,26.20,0.551,4,0.059,0.050,3517,411,1771,0,0,0,0,0,0
$GC,9247,1.61,306.2,26.8,13.0,433,9257,0.00,2.40,0.00,0.000,6,0.000,0.018,3517,1945,1768,0,0,0,0,0,0
$STATE,9420,end climb,SURFACE_DEPTH_REACHED
$STATE,9420,begin surface coast
$FINISH,0.4,0.980054
$STATE,9466,end surface coast,CONTROL_FINISHED_OK
$STATE,9466,begin surface
$SM_CCo,9490,59.80,0.526,0,0,1470,380.21
$SM_GC,1.45,0.00,0.00,59.80,0.000,0.000,0.526,480,1789,1470,-12.29,-0.31,380.21
$IRIDIUM_FIX,2239.35,-15800.20,250800,232357
$TT8_MAMPS,0.026078
$HUMID,58.70
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,22.20
$XPDR_PINGS,44
$24V_AH,23.5,22.640
$10V_AH,10.4,19.780
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,27.975,124.875,372.175,59.800,0.000,31.244,39.183,186.319,11.000,0.000,34.857,950.991,6211.864,478.926,1790.120,522.654,33.360,1169.610,0.000,1764.693,0.000,0.535,0.000
$DEVICE_MAMPS,144.963,108.914,915.031,526.162,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,314.179,258.179,354.074,664.618,1005.209,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,38335,464
$CAP_FILE_SIZE,100277,0
$CFSIZE,260165632,172806144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020611,045404,2247.257,-15759.013,10,2.1,29,10.1